Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.

LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

g2o: A General Framework for Graph Optimization

ROS packages for Turtlebot3

Unitree robot sdk version 2. https://support.unitree.com/home/zh/developer

Generic and simple controls framework for ROS 2

Converts a 3D Point Cloud into a 2D laser scan.

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Converts a depth image to a laser scan for use with navigation and localization.

Code for simplified LIO-SAM

Catkin package that provides lidar motion undistortion based on an external 6DoF pose estimation input.

通过对优化器底层进行修改，使其优化的轨迹坐标维度为2维（x和y），并对grid map进行重写，使其适配真正适配地面2D移动机器人。

Simulation with ROS 2 Humble & Ignition Fortress using the nav2 framework, to implement autonomous navigation, and Slam Toolbox to create the environment map

This repository provides an easy-to-use framework to connect the FAST_LIO SLAM algorithm with a ROS 2 simulation in Ignition (Gazebo).